On Transferability of grasp-affordances in data-driven grasping

Jimmy Alison Rytz, Lars-Peter Ellekilde, Dirk Kraft, Henrik Gordon Petersen, Norbert Krüger

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

215 Downloads (Pure)

Abstract

It has become a common practice to use simulation to generate large databases
of good grasps for grasp planning in robotics research. However, the existence of a generic simulation context that enables generation of high quality grasps that can be used in several different contexts such as bin-picking or picking objects from a table, has to our knowledge not been discussed in the literature. In this paper we investigate how well the quality of grasps simulated in a commonly used ”generic” context transfer to a specific context where the object is placed on a table. We generate a large database of grasp hypothesis for several objects, which we then evaluate in different dynamic simulation contexts eg. free float (no gravity, no obstacles), standing on table and lying on table. We present a comparison on the intersection of the grasp outcome space across the different contexts and quantitatively show that to generate reliable grasp databases, it is often required to use context specific simulation.
Original languageEnglish
Title of host publicationProceedings of the RAAD 2013
Number of pages9
Publication date11. Aug 2013
Publication statusPublished - 11. Aug 2013
Event22nd International Workshop on Robotics in Alpe-Adria-Danube Region - Portorož, Slovenia
Duration: 11. Sept 201313. Sept 2013

Workshop

Workshop22nd International Workshop on Robotics in Alpe-Adria-Danube Region
Country/TerritorySlovenia
CityPortorož
Period11/09/201313/09/2013

Keywords

  • Robotic Grasping
  • Grasp-affordances
  • Dynamic Simulation
  • Data-driven grasping

Fingerprint

Dive into the research topics of 'On Transferability of grasp-affordances in data-driven grasping'. Together they form a unique fingerprint.

Cite this